Control device

A control device comprising:

• a command analysis unit that analyzes a command including a machining program for machining a workpiece, and outputs an analysis result including a program coordinate value;
• an interpolation unit that performs interpolation processing on the analysis result analyzed by the command analysis unit, and generates a movement command of respective axes of a machine tool and/or a robot;
• a pulse generation unit that generates a drive pulse for driving respective axes based on the movement command;
• a graph generation unit that generates a graph indicating a machine configuration of the machine tool and/or the robot;
• a shift addition node designation unit that designates any node of the graph, in order to add, to a node of the graph, shift information including an external movement amount externally inputted;
• a shift information setting unit that sets the shift information for a position offset and/or posture offset of the designated node based on the shift information;
• and
• a kinematics conversion unit that converts a program coordinate value included in the movement command to a motor coordinate value based on the position offset and/or the posture offset set in the node.